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In general, in a first step (mapping) a global map is created, including static objects like walls etc. In the second step (navigation) the global planner takes this map to generates a path to the goal position (after localizing in the map, localization can be its own step). The local planner then plans and directs move_base along this local path (which tries to stay close to the global path) but also taking dynamic obstacles (humans, etc.) into account perceived via the robots sensors like lidar, rgb-d cameras etc., which is represented as the local cost map.
I would start with turtlebot3 in the navigation folder are the params. But turtlebot is small slow and circular. To fix the size and formfactor shouldnt be an issue, but speed might get tricky specially deceleration(inertia). Footprint scaling might be a solution. I would definitely suggest testing in simulation first IRL will be dangerous and possibly an expensive exercise.
Asked: 2021-10-11 11:30:53 -0600
Seen: 85 times
Last updated: Oct 12 '21
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